{ "task_name": "clean a patio", "data_folder": "", "meta_data": { "task_duration": 13515, "valid_duration": [ 15, 13530 ] }, "skill_annotation": [ { "skill_idx": 0, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "broom_172" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 15, 594 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 1, "skill_id": [ 2 ], "skill_description": [ "pick up from" ], "object_id": [ [ "broom_172", "floors_ghetev_0" ] ], "manipulating_object_id": [ "broom_172" ], "spatial_prefix": [], "frame_duration": [ 594, 1086 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 2, "skill_id": [ 5 ], "skill_description": [ "hand over" ], "object_id": [ [ "broom_172", "left", "right" ] ], "manipulating_object_id": [ "broom_172" ], "spatial_prefix": [], "frame_duration": [ 1086, 1434 ], "mp_ef": [], "skill_type": [ "coordinated" ] }, { "skill_idx": 3, "skill_id": [ 94 ], "skill_description": [ "hold" ], "object_id": [ [ "broom_172" ] ], "manipulating_object_id": [ "broom_172" ], "spatial_prefix": [], "frame_duration": [ 1434, 1575 ], "mp_ef": [], "skill_type": [ "coordinated" ] }, { "skill_idx": 4, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "mud" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 1575, 2070 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 5, "skill_id": [ 50 ], "skill_description": [ "sweep surface" ], "object_id": [ [ "broom_172", "floors_ghetev_0" ] ], "manipulating_object_id": [ "broom_172" ], "spatial_prefix": [], "frame_duration": [ 2070, 2151 ], "mp_ef": [], "skill_type": [ "coordinated" ] }, { "skill_idx": 6, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "mud" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 2151, 2582 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 7, "skill_id": [ 50 ], "skill_description": [ "sweep surface" ], "object_id": [ [ "broom_172", "floors_ghetev_0" ] ], "manipulating_object_id": [ "broom_172" ], "spatial_prefix": [], "frame_duration": [ 2582, 2652 ], "mp_ef": [], "skill_type": [ "coordinated" ] }, { "skill_idx": 8, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "mud" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 2652, 2835 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 9, "skill_id": [ 50 ], "skill_description": [ "sweep surface" ], "object_id": [ [ "broom_172", "floors_ghetev_0" ] ], "manipulating_object_id": [ "broom_172" ], "spatial_prefix": [], "frame_duration": [ 2835, 2886 ], "mp_ef": [], "skill_type": [ "coordinated" ] }, { "skill_idx": 10, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "mud" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 2886, 3165 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 11, "skill_id": [ 50 ], "skill_description": [ "sweep surface" ], "object_id": [ [ "broom_172", "floors_ghetev_0" ] ], "manipulating_object_id": [ "broom_172" ], "spatial_prefix": [], "frame_duration": [ 3165, 3219 ], "mp_ef": [], "skill_type": [ "coordinated" ] }, { "skill_idx": 12, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "mud" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 3219, 3438 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 13, "skill_id": [ 50 ], "skill_description": [ "sweep surface" ], "object_id": [ [ "broom_172", "floors_ghetev_0" ] ], "manipulating_object_id": [ "broom_172" ], "spatial_prefix": [], "frame_duration": [ 3438, 3477 ], "mp_ef": [], "skill_type": [ "coordinated" ] }, { "skill_idx": 14, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "mud" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 3477, 3690 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 15, "skill_id": [ 50 ], "skill_description": [ "sweep surface" ], "object_id": [ [ "broom_172", "floors_ghetev_0" ] ], "manipulating_object_id": [ "broom_172" ], "spatial_prefix": [], "frame_duration": [ 3690, 3792 ], "mp_ef": [], "skill_type": [ "coordinated" ] }, { "skill_idx": 16, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "garden_chair_lraplz_0" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ [ 3792, 3948 ], [ 4025, 4617 ] ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 17, "skill_id": [ 8 ], "skill_description": [ "release" ], "object_id": [ [ "broom_172" ] ], "manipulating_object_id": [ "broom_172" ], "spatial_prefix": [], "frame_duration": [ 3948, 4025 ], "mp_ef": [], "skill_type": [ "coordinated" ] }, { "skill_idx": 18, "skill_id": [ 90 ], "skill_description": [ "push to" ], "object_id": [ [ "garden_chair_lraplz_0", "robot" ] ], "manipulating_object_id": [ "garden_chair_lraplz_0" ], "spatial_prefix": [ [ "", "away" ] ], "frame_duration": [ 4617, 4956 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 19, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "mud" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ [ 4956, 5124 ], [ 5364, 5655 ] ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 20, "skill_id": [ 94 ], "skill_description": [ "hold" ], "object_id": [ [ "broom_172" ] ], "manipulating_object_id": [ "broom_172" ], "spatial_prefix": [], "frame_duration": [ 5124, 5364 ], "mp_ef": [], "skill_type": [ "coordinated" ] }, { "skill_idx": 21, "skill_id": [ 50 ], "skill_description": [ "sweep surface" ], "object_id": [ [ "broom_172", "floors_ghetev_0" ] ], "manipulating_object_id": [ "broom_172" ], "spatial_prefix": [], "frame_duration": [ 5655, 5712 ], "mp_ef": [], "skill_type": [ "coordinated" ] }, { "skill_idx": 22, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "mud" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 5712, 6384 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 23, "skill_id": [ 50 ], "skill_description": [ "sweep surface" ], "object_id": [ [ "broom_172", "floors_ghetev_0" ] ], "manipulating_object_id": [ "broom_172" ], "spatial_prefix": [], "frame_duration": [ 6384, 6438 ], "mp_ef": [], "skill_type": [ "coordinated" ] }, { "skill_idx": 24, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "garden_chair_cottya_0" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 6438, 6564 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 25, "skill_id": [ 8 ], "skill_description": [ "release" ], "object_id": [ [ "broom_172" ] ], "manipulating_object_id": [ "broom_172" ], "spatial_prefix": [], "frame_duration": [ 6564, 6675 ], "mp_ef": [], "skill_type": [ "coordinated" ] }, { "skill_idx": 26, "skill_id": [ 90 ], "skill_description": [ "push to" ], "object_id": [ [ "garden_chair_cottya_0", "robot" ] ], "manipulating_object_id": [ "garden_chair_cottya_0" ], "spatial_prefix": [ [ "", "away" ] ], "frame_duration": [ 6675, 7464 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 27, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "garden_chair_cottya_1" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 7464, 7599 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 28, "skill_id": [ 90 ], "skill_description": [ "push to" ], "object_id": [ [ "garden_chair_cottya_1", "robot" ] ], "manipulating_object_id": [ "garden_chair_cottya_1" ], "spatial_prefix": [ [ "", "away" ] ], "frame_duration": [ 7599, 7884 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 29, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "garden_chair_cottya_2" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 7884, 8145 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 30, "skill_id": [ 90 ], "skill_description": [ "push to" ], "object_id": [ [ "garden_chair_cottya_2", "robot" ] ], "manipulating_object_id": [ "garden_chair_cottya_2" ], "spatial_prefix": [ [ "", "away" ] ], "frame_duration": [ 8145, 8679 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 31, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "mud" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ [ 8679, 9222 ], [ 9424, 9714 ] ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 32, "skill_id": [ 94 ], "skill_description": [ "hold" ], "object_id": [ [ "broom_172" ] ], "manipulating_object_id": [ "broom_172" ], "spatial_prefix": [], "frame_duration": [ 9222, 9424 ], "mp_ef": [], "skill_type": [ "coordinated" ] }, { "skill_idx": 33, "skill_id": [ 50 ], "skill_description": [ "sweep surface" ], "object_id": [ [ "broom_172", "floors_ghetev_0" ] ], "manipulating_object_id": [ "broom_172" ], "spatial_prefix": [], "frame_duration": [ 9714, 9786 ], "mp_ef": [], "skill_type": [ "coordinated" ] }, { "skill_idx": 34, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "mud" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 9786, 9996 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 35, "skill_id": [ 50 ], "skill_description": [ "sweep surface" ], "object_id": [ [ "broom_172", "floors_ghetev_0" ] ], "manipulating_object_id": [ "broom_172" ], "spatial_prefix": [], "frame_duration": [ 9996, 10080 ], "mp_ef": [], "skill_type": [ "coordinated" ] }, { "skill_idx": 36, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "mud" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 10080, 10260 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 37, "skill_id": [ 50 ], "skill_description": [ "sweep surface" ], "object_id": [ [ "broom_172", "floors_ghetev_0" ] ], "manipulating_object_id": [ "broom_172" ], "spatial_prefix": [], "frame_duration": [ 10260, 10306 ], "mp_ef": [], "skill_type": [ "coordinated" ] }, { "skill_idx": 38, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "mud" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 10306, 10668 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 39, "skill_id": [ 50 ], "skill_description": [ "sweep surface" ], "object_id": [ [ "broom_172", "floors_ghetev_0" ] ], "manipulating_object_id": [ "broom_172" ], "spatial_prefix": [], "frame_duration": [ 10668, 10692 ], "mp_ef": [], "skill_type": [ "coordinated" ] }, { "skill_idx": 40, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "mud" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 10692, 10707 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 41, "skill_id": [ 50 ], "skill_description": [ "sweep surface" ], "object_id": [ [ "broom_172", "floors_ghetev_0" ] ], "manipulating_object_id": [ "broom_172" ], "spatial_prefix": [], "frame_duration": [ 10707, 10740 ], "mp_ef": [], "skill_type": [ "coordinated" ] }, { "skill_idx": 42, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "mud" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 10740, 10992 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 43, "skill_id": [ 50 ], "skill_description": [ "sweep surface" ], "object_id": [ [ "broom_172", "floors_ghetev_0" ] ], "manipulating_object_id": [ "broom_172" ], "spatial_prefix": [], "frame_duration": [ 10992, 11211 ], "mp_ef": [], "skill_type": [ "coordinated" ] }, { "skill_idx": 44, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "mud" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 11211, 11436 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 45, "skill_id": [ 50 ], "skill_description": [ "sweep surface" ], "object_id": [ [ "broom_172", "floors_ghetev_0" ] ], "manipulating_object_id": [ "broom_172" ], "spatial_prefix": [], "frame_duration": [ 11436, 11490 ], "mp_ef": [], "skill_type": [ "coordinated" ] }, { "skill_idx": 46, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "mud" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 11490, 11559 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 47, "skill_id": [ 50 ], "skill_description": [ "sweep surface" ], "object_id": [ [ "broom_172", "floors_ghetev_0" ] ], "manipulating_object_id": [ "broom_172" ], "spatial_prefix": [], "frame_duration": [ 11559, 11610 ], "mp_ef": [], "skill_type": [ "coordinated" ] }, { "skill_idx": 48, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "mud" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 11610, 11940 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 49, "skill_id": [ 50 ], "skill_description": [ "sweep surface" ], "object_id": [ [ "broom_172", "floors_ghetev_0" ] ], "manipulating_object_id": [ "broom_172" ], "spatial_prefix": [], "frame_duration": [ 11940, 12011 ], "mp_ef": [], "skill_type": [ "coordinated" ] }, { "skill_idx": 50, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "mud" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 12011, 12597 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 51, "skill_id": [ 50 ], "skill_description": [ "sweep surface" ], "object_id": [ [ "broom_172", "floors_ghetev_0" ] ], "manipulating_object_id": [ "broom_172" ], "spatial_prefix": [], "frame_duration": [ 12597, 12652 ], "mp_ef": [], "skill_type": [ "coordinated" ] }, { "skill_idx": 52, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "mud" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 12652, 12882 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 53, "skill_id": [ 50 ], "skill_description": [ "sweep surface" ], "object_id": [ [ "broom_172", "floors_ghetev_0" ] ], "manipulating_object_id": [ "broom_172" ], "spatial_prefix": [], "frame_duration": [ 12882, 12990 ], "mp_ef": [], "skill_type": [ "coordinated" ] }, { "skill_idx": 54, "skill_id": [ 8 ], "skill_description": [ "release" ], "object_id": [ [ "broom_172" ] ], "manipulating_object_id": [ "broom_172" ], "spatial_prefix": [], "frame_duration": [ 13086, 13146 ], "mp_ef": [], "skill_type": [ "coordinated" ] }, { "skill_idx": 55, "skill_id": [ 3 ], "skill_description": [ "place on" ], "object_id": [ [ "broom_172", "floors_ghetev_0" ] ], "manipulating_object_id": [ "broom_172" ], "spatial_prefix": [], "frame_duration": [ 13146, 13530 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] } ], "primitive_annotation": [ { "primitive_idx": 0, "primitive_id": [ 2 ], "primitive_description": [ "pick up from" ], "object_id": [ [ "broom_172", "floors_ghetev_0" ] ], "manipulating_object_id": [ "broom_172" ], "spatial_prefix": [], "frame_duration": [ 15, 1575 ], "skill_idxes": [ 0, 1, 2, 3 ] }, { "primitive_idx": 1, "primitive_id": [ 50 ], "primitive_description": [ "sweep surface" ], "object_id": [ [ "broom_172", "floors_ghetev_0" ] ], "manipulating_object_id": [ "broom_172" ], "spatial_prefix": [], "frame_duration": [ 1575, 3792 ], "skill_idxes": [ 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15 ] }, { "primitive_idx": 2, "primitive_id": [ 90 ], "primitive_description": [ "push to" ], "object_id": [ [ "garden_chair_lraplz_0", "robot" ] ], "manipulating_object_id": [ "garden_chair_lraplz_0" ], "spatial_prefix": [ [ [], [ "away" ] ] ], "frame_duration": [ [ 3792, 3948 ], 4956 ], "skill_idxes": [ 16, 17, 18 ] }, { "primitive_idx": 3, "primitive_id": [ 50 ], "primitive_description": [ "sweep surface" ], "object_id": [ [ "broom_172", "floors_ghetev_0" ] ], "manipulating_object_id": [ "broom_172" ], "spatial_prefix": [], "frame_duration": [ [ 4956, 5124 ], 6438 ], "skill_idxes": [ 19, 20, 21, 22, 23 ] }, { "primitive_idx": 4, "primitive_id": [ 90 ], "primitive_description": [ "push to" ], "object_id": [ [ [ "garden_chair_cottya_0", "garden_chair_cottya_1", "garden_chair_cottya_2" ], "robot" ] ], "manipulating_object_id": [ [ "garden_chair_cottya_0", "garden_chair_cottya_1", "garden_chair_cottya_2" ] ], "spatial_prefix": [ [ [], [ "away", "away", "away" ] ] ], "frame_duration": [ 6438, 8679 ], "skill_idxes": [ 24, 25, 26, 27, 28, 29, 30 ] }, { "primitive_idx": 5, "primitive_id": [ 50 ], "primitive_description": [ "sweep surface" ], "object_id": [ [ "broom_172", "floors_ghetev_0" ] ], "manipulating_object_id": [ "broom_172" ], "spatial_prefix": [], "frame_duration": [ [ 8679, 9222 ], 12990 ], "skill_idxes": [ 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51, 52, 53 ] }, { "primitive_idx": 6, "primitive_id": [ 3 ], "primitive_description": [ "place on" ], "object_id": [ [ "broom_172", "floors_ghetev_0" ] ], "manipulating_object_id": [ "broom_172" ], "spatial_prefix": [], "frame_duration": [ 13086, 13530 ], "skill_idxes": [ 54, 55 ] } ] }